CN101243403A - Method and device for monitoring operations of computer system - Google Patents
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- 238000010276 construction Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/30—Monitoring
- G06F11/3065—Monitoring arrangements determined by the means or processing involved in reporting the monitored data
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/1629—Error detection by comparing the output of redundant processing systems
- G06F11/1641—Error detection by comparing the output of redundant processing systems where the comparison is not performed by the redundant processing components
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2201/00—Indexing scheme relating to error detection, to error correction, and to monitoring
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Abstract
The invention relates to a method and device for monitoring operations of a computer system comprising at least two execution units, wherein switching means are provided and make it is possible to switch at least two operating modes to each other and comparison means are provided, the first operating mode corresponds to the comparison mode and the second operating mode corresponds to the performance mode and the first operation is monitored by the second operation, in the comparison mode said second operation is run on at least two execution units and each second operation which is run on at least two execution units monitors the first operation.
Description
Background technology
In the field of embedded system, for example in automotive engineering or automatic technology, the mistake concerning some are used in the μ C hardware may have potential and security-related result.For fear of such result or reduce to influence the order of severity, employing should detect the supervision measure of this mistake.Whether also so in some applications supervision almost all needs always, and exist (for example periodically) termly or requirement that should be specific to check counter or other parts function for monitoring of correct work in other are used.The present invention just relates to such application.
For example carry out check routine as the part of function for monitoring in these are used, this check routine checks whether special-purpose member can also work.This for example is that with the part of acquiescence input value calculating truth function algorithm, the result that will know compares with stored reference value then.This stored reference value can calculated in advance, because acquiescence input value and this algorithm are just known in the moment that produces this software.
The function for monitoring of another kind of type is realized by targetedly delivery channel being loaded.This may with returning of sensor values read combination, leave this sensor values in specific region then.Also there are a lot of other distortion.
The common ground of all these method for monitoring is, they are with running software and be controlled (may the HW device of μ C outside down auxiliary) but and the workability of check system.
In the inspection measure of being investigated, notice very carefully that the mistake that can influence whole software in the μ C nuclear can not cause surveillance routine itself not work.At vindicability, must when the measure of evaluation, guarantee all true(-)runnings of inspection software of this nuclear itself and operation on nuclear just.Under this precondition, can guarantee also true(-)running of auditing routine itself provablely.This causes on the whole and must drop into very many effort in the independence of checking between nuclear itself and other auditing routine and the nuclear mistake.
In automatic technology, talk about so-called security function in several places usually.This security function should identify separately and file in whole application, and generally must be corresponding to the requirement of standard (for example IEC 61508).Even without standard is effectively, also will propose extra high requirement to wrong identification in these security functions, and not be can be to the object execution monitoring function that will monitor.
In this external known inspection measure, but usually checking that can this inspection work the time only relate to the workability in specific context.But promptly usually not the workability that monitors in each or the current effective context, but but only in default context, check workability.
Summary of the invention
The technical problem to be solved in the present invention is to improve the security of embedded system, but can depend on that wherein context ground checks workability, and improves the quality of function for monitoring thus.The means of security of operation function on the control computer should be implemented in addition, and the preferred enforcement means of security function should be provided.Another technical matters that will solve is, reduces developing and moving with the cost in the function for monitoring of SW operation.
Therefore the invention has the advantages that, check together that when the execution monitoring function whether correct the and inerrancy of this function for monitoring work (relating to the HW mistake).Therefore can detect the mistake in the function for monitoring.Realize obviously more simple security concept thus.Supervision in the software has obtained 100% coverage rate to the mistake of performance element at this, and this mistake manifests when work.But realized inspection that context is taken into account to workability.The exploitation cost of security concept reduces thus.The total system complexity reduces.This notion is easy to expand to other and security-related function also can be moved under comparison pattern.This notion allows to implement simply security function, and allows this security function operating on the control computer under the special pattern together.
A kind of method that is used to monitor the function of the calculator system with at least two performance elements has preferably been described, wherein between at least two operational modes, switch, and first operational mode is corresponding to comparison pattern, second operational mode is corresponding to performance mode, monitor first function by second function, it is characterized in that, second function is operating in comparison pattern under on two performance elements at least, and each second function of moving at least two performance elements all monitors same first function.
Preferably describe a kind of method, it is characterized in that, the described second functional cycle ground monitors first function.
Preferably describe a kind of method, it is characterized in that, described first function operates under the performance mode.
Preferably describe a kind of method, it is characterized in that, the result who will occur in the time of will moving second function at least two performance elements compares mutually, and monitors second function thus.
Preferably describe a kind of method, it is characterized in that, by depending on the operation of contextual value, and the result that will occur in this process compares described second function mutually at least two performance elements.
Preferably describe a kind of method, it is characterized in that, also have other functions that monitor other functions except second function, wherein only some under comparison pattern is carrying out on two performance elements at least other functions, and self-examination thus.
A kind of device that is used to monitor the function of the calculator system with at least two performance elements has preferably been described, switch comprising switching device shifter and between at least two operational modes, and comprise comparison means, wherein first operational mode is corresponding to comparison pattern, second operational mode is corresponding to performance mode, monitor first function by second function, it is characterized in that, described device construction is for making second function operate under the comparison pattern at least two performance elements, and each second function of moving at least two performance elements all monitors same first function.
Preferably comprise a kind of device, it is characterized in that, the result that this device occurs when constituting and will move second function at least two performance elements by comparison means compares mutually, and monitors second function thus.
Preferably comprise a kind of device, it is characterized in that, this device be constructed such that described second function at least two performance elements by depending on the operation of contextual value, and the result that will occur in this process compares mutually.
Preferably comprise a kind of device, it is characterized in that, this device is constructed such that and also has other functions that monitor other functions that except second function wherein only some under comparison pattern is carrying out on two performance elements at least other functions, and self-examination thus.
Preferably comprise a kind of device, it is characterized in that, described switching device shifter and comparison means are combined as and switch and comparing unit.
Preferably comprise a kind of device, it is characterized in that, described switching device shifter and comparison means are carried out the supervision to second function.
Other advantage and embodiment are provided by the feature and the description of claim.
Description of drawings
Fig. 1 illustrates the generality of switching and comparing unit and represents.
Fig. 2 is illustrated in the parts that exist in the computing unit of system of the present invention.
Fig. 3 illustrates the division of function set.
Fig. 4 illustrates the another kind of function set and divides.
Fig. 5 illustrates the flow process of judging process.
Fig. 6 illustrates the multicomputer system with two performance elements.
Embodiment
Below, performance element had both been represented processor/cores/CPU, also represented FPU (floating point unit), DSP (digital signal processor), coprocessor or ALU (ALU).
The present invention is based on multicomputer system W100 shown in Figure 6, it has at least two performance element W110a, W110b, comparing unit W120 and switch unit W150.The principle of switchable multicomputer system is described by two-processor system in Fig. 6.In Fig. 1, a switching and comparing unit are used for being described more than the generalized case of two performance elements in view of the above.The present invention relates to the generalized case with two or more performance elements all the time at this.Performance element among Fig. 6 is connected with switch unit W150 with comparing unit W120 by optional intermediate store W111a, W111b respectively.Switch unit W150 has at least two output terminals that lead to two system interface W130a, W130b.By these interfaces can control register, storer or such as peripheral hardwares such as digital output end, D/A converter, communication controlers.This multicomputer system can move under at least two operational modes, and one is comparison pattern VM, and one is performance mode PM.In performance mode PM, the order that executed in parallel is different in different performance elements, program segment or program.Inactive comparing unit in this operational mode.Switch unit W150 is configured to make each performance element to be connected with one of system interface W130a, W130b by optional intermediate store in this operational mode.Can be by this system interface with among the W170 of write store as a result of performance element or output to peripheral component W180, W190.Peripheral component for example can be analog-digital converter or communication system communication controler (SPI for example, LIN, CAN, F1exRay).There is multiple possibility in order to stop using comparing unit.Can utilize this signal enabling or this comparing unit of stopping using to the comparing unit input signal on the one hand.In comparing unit, add the additional logic that to carry out like this for this reason.Another may be not to this comparing unit input data to be compared.The third may be to ignore the rub-out signal of comparing unit on system level.In addition can interrupt error signal itself.All these possible identical points are, they produce a state in system, and what effect two or more can't play through data difference relatively possibly under this state.If this state reaches by the signal that inputs or outputs of measure in the comparing unit or comparing unit, then this comparing unit is called passiveness or stops using.In comparison pattern VM, in two performance element W110a, W110b, handle instruction, program segment or the program of identical or same type.By optional intermediate store W111a, W111b output signal input comparing unit W120 and switch unit W150 with performance element.Check in comparing unit whether these two data are consistent.After comparing, by status signal W125 notice switch unit, whether allow this switch unit to the consistent result of one of system interface output, perhaps whether this switch unit is variant and necessary by this signal owing to having identified the result.Can export optional rub-out signal W155 from comparing unit in this case.This rub-out signal can be not from comparing unit output and from switch unit output W156.Switching in this can trigger by the switching command of carrying out special use, special-purpose instruction sequence, the instruction that clearly shows, perhaps by being triggered by at least one performance element visit specific memory device address of multicomputer system.
The general expression of the switching of preferred use shown in Figure 1 and comparing unit in addition.Export n signal N140 from n the performance element that will consider to switching and comparing unit N100 ..., N14n.This switches and comparing unit N100 can produce nearly n output signal N160 from this input signal ..., N16n.Under the simplest situation, i.e. " pure performance mode ", the corresponding output signal N16i of all signal N14i guiding.Under opposite limiting case, i.e. " pure comparison pattern ", all signal N140 ..., N14n just what a the output signal N16i that only leads.
In Fig. 1, can consider how to form different patterns.The logical block that for this reason in Fig. 1, comprises switching logic N110.This switching logic at first is determined to the end and has how many output signals.Switching logic N110 determines which output signal which input end is used to produce in addition.Be used for producing just what a output signal at this input signal.Therefore, according to mathematical form in addition formulism ground by function of switching logic definition, this function to set N140 ..., and each element of N14n} distribute set N160 ..., the element of N16n}.
Processing logic N120 determines to each output terminal N16i input end is used to produce this output signal with which type of form then.For the different variation possibility of exemplary description, do not limit the N160 of supposition output prevailingly by signal N141 ..., N14m produces.If m=1, then this represents the conducting of this signal simply, if m=2 then signal N141, N142 are compared.This relatively can be carried out synchronously or asynchronously, and this relatively can carry out or only carry out at significance bit or also have tolerance band ground simultaneously and carry out according to the position.
If m＞=3 would exist multiple may.First kind may be, relatively all signals and detect mistake when having at least two different values can be selected to be notified to this mistake.Second kind may be, carries out m and selects k (k＞m/2).This can realize by using comparer.Alternatively, if one of these signals have been identified as deviation, then produce rub-out signal.If whole 3 signals are all different, then can produce a rub-out signal that possibility is different.The third may be, these values are introduced in the algorithm.This for example can be to form mean value, intermediate value, or uses fault-tolerant algorithm (FTA).The type that such FTA averages to surplus value based on the extreme value and the employing of deletion input value.This averaging can be carried out in the whole set of surplus value, perhaps preferably carries out on the subclass that is easy to HW formation.Always do not need actual specific to be worth in this case than these.When forming mean value, for example only need addition and be divided by the classification of FTM, FTA or intermediate value needs part.Can also when extreme value is enough big, select the output error signal in case of necessity.
For the purpose of concise and to the point, be that the above-mentioned difference of a signal may abbreviate comparison operation as with a plurality of signal Processing.
Therefore therefore the task of processing logic also also determine the accurate formation of comparison operation to affiliated input signal to each output signal.The combination of the information of the information of switching logic N110 (being above-mentioned function) and processing logic (being that each functional value is determined comparison operation at each output signal promptly) is a pattern information, and this pattern information has been determined pattern.This information is many-valued under normal conditions naturally, promptly not only represents by a logical bit.The not all pattern that can expect in theory all is significant in given enforcement, preferably will limit the quantity of the pattern that is allowed.Be stressed that under the situation of having only two performance elements, only exist a comparison pattern this moment, whole information can be concentrated to a logical bit.
Switching in generally speaking from the performance mode to the comparison pattern is characterised in that the performance element that is reflected to different output in performance mode is reflected in the identical output under comparison pattern.This point preferably realizes like this, the subsystem that has performance element, all input signal N14i that wherein will consider in subsystem in performance mode directly are switched to corresponding output signal N16i, and these input signals will be reflected in the output in comparison pattern.Interchangeable, this switching can realize by the change pairing.Expression can not be called performance mode and comparison pattern in the ordinary course of things thus, though the present invention can limit the set of the pattern that is allowed in the given embodiment, make it can is this situation.But always be called from performance mode and switch to comparison pattern (vice versa).
When operation, can between these patterns, dynamically switch by software control ground.This switches in this and for example triggers by the switching command of carrying out special use, special-purpose instruction sequence, the instruction that clearly shows, perhaps by being triggered by at least one specific address of performance element visit of multicomputer system.
The suggestion function for monitoring moves under comparison pattern.But function for monitoring is the function of inspection part, subsystem or object or the function of workability at this.
Describe this thought below in detail.
Which parts shown in Figure 2 have in the computing unit of system of the present invention.Computing unit 0200 itself comprises a plurality of performance elements 0210 ..., 021n.Comprise in addition and switch and comparing unit 0220.This switches and comparing unit preferably exists as the parts in the computing unit, but also can be distributed on the different parts, even can be positioned at outside the computing unit self.Importantly, computing unit can provide and switch and the needed function of comparing unit, as what mention in the description at Fig. 1.The function that operation preferably realizes with software on this external this computing unit.Except computing unit 0200, these functions are introduced as piece 230 in the figure, because they are positioned on another observation layer conceptive.
Fig. 3 illustrates the division of function 0230.The total collection 0300 of function is equivalent to 0230 at this.This total collection can be divided into function for monitoring 0230 and other function 0310.In the simplest form of this basic thought, under comparison pattern, calculate or the execution monitoring function, and under performance mode, carry out other function.
Significant advantage at this is to check together when the execution monitoring function whether it correctly works with error-free (relating to the HW parts).Can detect the mistake in the function for monitoring itself in addition.Can obviously simplify security concept thus.Supervision in the software obtains 100% coverage about the mistake of performance element at this, and these mistakes show when work.Because function for monitoring running software described here, so the prerequisite that this function for monitoring correctly satisfies its function is to move " brain " (performance element) of this function for monitoring and correctly work.Except monitoring executing unit together, also improved the quality of function for monitoring itself thus.Owing to always must address this problem (monitoring executing unit together) during security concept, therefore to when detecting the wrong of performance element and proofread and correct wrong in the function for monitoring thus, drop into very big effort usually in exploitation.This effort will be paid when exploitation.But also in system itself, display, wherein additional or bothersome parts of this effort require and improved system complexity.Trend towards influencing negatively the reliability and the security of system thus.By adopting invention described here to reduce or monitor the development effort of notion, and reduced the complexity of total system at safety.The reliability and the security of system except reducing cost, have also been improved thus indirectly.
In addition, another important improvement of safety is promptly calculated function for monitoring with current context by using the present invention to realize like this in a lot of the application.On performance element only during the execution monitoring function,, need compare with known reference value outside the parts of here investigating usually in order to determine the correctness of function for monitoring.This default value that can only be stored in the non-volatile memory parts by calculating is realized under a lot of applicable cases.This value just is not to calculate when operation in exploitation constantly, and only effective to the specific context in this supposition thus.But mistake can only be expressed at specific context usually.For example the mistake in many application components always can not identify by comparing with value known and storage with two complete specific digital multiplies and with the result.Usually this mistake can only show by producing wrong result when the combinatorial input value distinguishingly.Therefore the function for monitoring that is restricted to such default value has the error recognition rate of reduction.By adopting the present invention to depend on contextual value, because carry out necessary comparison to detect the mistake in the performance element by switching and comparing unit for function for monitoring is equipped with.
In using, great majority preferably, under performance mode, calculate other function 0310, because system power has just obtained optimization like this.
The distortion of this thought is shown in Figure 4. Subclass 0301,0311,0321 is equivalent to 0300 among Fig. 3,0310,0320. Subclass 0311 and 0321 is divided equally respectively once more for gathering 0350,0360 and 0330,0340.Its basic thought is that not all function for monitoring all must move under comparison pattern, just need move under comparison pattern the very important function for monitoring of monitoring executing unit but may have only.Such function for monitoring is represented with 0330, moves under performance mode and unessential another (preferred very little) the function for monitoring subclass 0340 of function is carried out in supervision.Accordingly, 0311 division should be understood to: 0350 for example can be the function of directly controlling crucial actuator.Promptly that part of functions that is not function for monitoring can also be operated under the comparison pattern.These functions form 0350.Remaining function 0360 is moved under performance mode.
Fig. 5 illustrates at 0340 to empty and have only principle judging process under the preferable case of a performance mode and a comparison pattern.
Prerequisite is that the set of function for monitoring is known 0311.This causes on task/process/thread layer (below only be called process) process can be divided into the V process of handling function for monitoring and below be called other process of P process.Though also exist in the P process do not relate to function for monitoring also should be in calculation process under the comparison pattern (they are equivalent to the function of subclass 0350).These processes are called the PV process below.
In step 0400, enter " stationary state " of scheduler.As long as scheduler is dispatched certain process, just judge in step 0420 that this process is P process or V process in step 0410.If the V process, then (in step 0460) handles this process under comparison pattern, and scheduler returns its stationary state (according to step 0400) then.If the P process, then next step checks whether be the PV process in step 0430.If then (in step 0460) handles this process under comparison pattern, scheduler returns its stationary state (according to step 0400) then.If not, then (in step 0440) handles this process under performance mode.Must in step 0450, also to distribute to a performance element in this case.Scheduler returns its stationary state (0400) again then.
Claims (12)
1. method that is used to monitor the function of calculator system with at least two performance elements, wherein between at least two operational modes, switch, and first operational mode is corresponding to comparison pattern, second operational mode is corresponding to performance mode, monitor first function by second function, it is characterized in that second function is operating in comparison pattern under on two performance elements at least, and each second function of moving all monitors same first function at least two performance elements.
2. method according to claim 1 is characterized in that, the described second functional cycle ground monitors first function.
3. method according to claim 1 is characterized in that, described first function operates under the performance mode.
4. method according to claim 1 is characterized in that, the result who will occur in the time of will moving second function at least two performance elements compares mutually, and monitors second function thus.
5. method according to claim 1 is characterized in that, by depending on the operation of contextual value, and the result that will occur in this process compares described second function mutually at least two performance elements.
6. method according to claim 1 is characterized in that, also has other functions that monitor other functions except second function, and wherein only some is carrying out under comparison pattern on two performance elements at least other functions, and self-examination thus.
7. device that is used to monitor the function of calculator system with at least two performance elements, switch comprising switching device shifter and between at least two operational modes, and comprise comparison means, wherein first operational mode is corresponding to comparison pattern, second operational mode is corresponding to performance mode, monitor first function by second function, it is characterized in that, described device construction is for making second function operate under the comparison pattern at least two performance elements, and each second function of moving at least two performance elements all monitors same first function.
8. device according to claim 7 is characterized in that, the result that this device occurs when constituting and will move second function at least two performance elements by comparison means compares mutually, and monitors second function thus.
9. device according to claim 7 is characterized in that, this device be constructed such that described second function at least two performance elements by depending on the operation of contextual value, and the result that will occur in this process compares mutually.
10. device according to claim 7, it is characterized in that, this device is constructed such that and also has other functions that monitor other functions that except second function wherein only some is carrying out under comparison pattern on two performance elements at least other functions, and self-examination thus.
11. device according to claim 7 is characterized in that, described switching device shifter and comparison means are combined as and switch and comparing unit.
12. device according to claim 7 is characterized in that, described switching device shifter and comparison means are carried out the supervision to second function.
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| DE102005037230A DE102005037230A1 (en) | 2005-08-08 | 2005-08-08 | Method and device for monitoring functions of a computer system |
| DE102005037230.9 | 2005-08-08 |
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| CN101243403A true CN101243403A (en) | 2008-08-13 |
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| EP (1) | EP1915690A2 (en) |
| JP (1) | JP2009505186A (en) |
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| CN (1) | CN101243403A (en) |
| DE (1) | DE102005037230A1 (en) |
| RU (1) | RU2008108475A (en) |
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| US7085959B2 (en) | 2002-07-03 | 2006-08-01 | Hewlett-Packard Development Company, L.P. | Method and apparatus for recovery from loss of lock step |
| JP2004259137A (en) | 2003-02-27 | 2004-09-16 | Denso Corp | Electronic control device |
| BRPI0411824A (en) * | 2003-06-24 | 2006-08-08 | Bosch Gmbh Robert | process for switching between at least two modes of operation of a processing unit as well as a corresponding processing unit |
| DE10349581A1 (en) | 2003-10-24 | 2005-05-25 | Robert Bosch Gmbh | Method and device for switching between at least two operating modes of a processor unit |
| GB0325553D0 (en) * | 2003-11-01 | 2003-12-03 | Ibm | Method and apparatus for activating/deactivating run-time determined software routines in Java compiled bytecode applications |
| US7669079B2 (en) * | 2004-10-25 | 2010-02-23 | Robert Bosch Gmbh | Method and device for switching over in a computer system having at least two execution units |
| US20070255875A1 (en) * | 2004-10-25 | 2007-11-01 | Reinhard Weiberle | Method and Device for Switching Over in a Computer System Having at Least Two Execution Units |
| KR100663864B1 (en) * | 2005-06-16 | 2007-01-03 | 엘지전자 주식회사 | Apparatus and method for controlling processor mode in a multi-core processor |
| DE102005037230A1 (en) | 2005-08-08 | 2007-02-15 | Robert Bosch Gmbh | Method and device for monitoring functions of a computer system |
-
2005
- 2005-08-08 DE DE102005037230A patent/DE102005037230A1/en not_active Withdrawn
-
2006
- 2006-07-27 WO PCT/EP2006/064742 patent/WO2007017396A2/en active Application Filing
- 2006-07-27 RU RU2008108475/09A patent/RU2008108475A/en unknown
- 2006-07-27 US US11/990,097 patent/US8108716B2/en not_active Expired - Fee Related
- 2006-07-27 CN CN200680029402.8A patent/CN101243403A/en active Pending
- 2006-07-27 JP JP2008525528A patent/JP2009505186A/en active Pending
- 2006-07-27 EP EP06778027A patent/EP1915690A2/en not_active Withdrawn
- 2006-07-27 KR KR1020087003210A patent/KR101031181B1/en not_active IP Right Cessation
- 2006-08-07 TW TW095128809A patent/TW200736901A/en unknown
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112740123A (en) * | 2018-08-21 | 2021-04-30 | 皮尔茨公司 | Automation system for monitoring safety-critical processes |
| CN112740123B (en) * | 2018-08-21 | 2024-03-19 | 皮尔茨公司 | Automation system for monitoring safety-critical processes |
Also Published As
| Publication number | Publication date |
|---|---|
| RU2008108475A (en) | 2009-09-20 |
| DE102005037230A1 (en) | 2007-02-15 |
| US20100192021A1 (en) | 2010-07-29 |
| US8108716B2 (en) | 2012-01-31 |
| EP1915690A2 (en) | 2008-04-30 |
| WO2007017396A3 (en) | 2007-10-25 |
| KR20080032168A (en) | 2008-04-14 |
| WO2007017396A2 (en) | 2007-02-15 |
| KR101031181B1 (en) | 2011-04-26 |
| TW200736901A (en) | 2007-10-01 |
| JP2009505186A (en) | 2009-02-05 |
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